cb_absolute_rotate.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <tf/transform_listener.h>
#include <boost/optional.hpp>
#include "cb_move_base_client_behavior_base.h"
 
namespace cl_move_base_z
{
enum class SpiningPlanner
{
  Default,
  PureSpinning,
  Forward
};
 
class CbAbsoluteRotate : public CbMoveBaseClientBehaviorBase
{
public:
  tf::TransformListener listener;
 
  boost::optional<float> absoluteGoalAngleDegree;
  boost::optional<float> yawGoalTolerance;
  boost::optional<float> maxVelTheta;  // if not defined, default parameter server
  boost::optional<SpiningPlanner> spinningPlanner;
 
  CbAbsoluteRotate();
 
  CbAbsoluteRotate(float absoluteGoalAngleDegree, float yawGoalTolerance = -1);
 
  virtual void onEntry() override;
  virtual void onExit() override;
 
private:
  void updateTemporalBehaviorParameters(bool undo);
  float oldYawTolerance;
  float oldMaxVelTheta;
  float oldMinVelTheta;
};
}  // namespace cl_move_base_z